EP1307396A1 - Verfahren zur automatischen be- und entladung von transporteinheinten, insbesondere von einheiten zum transportieren von gütern - Google Patents
Verfahren zur automatischen be- und entladung von transporteinheinten, insbesondere von einheiten zum transportieren von güternInfo
- Publication number
- EP1307396A1 EP1307396A1 EP01974134A EP01974134A EP1307396A1 EP 1307396 A1 EP1307396 A1 EP 1307396A1 EP 01974134 A EP01974134 A EP 01974134A EP 01974134 A EP01974134 A EP 01974134A EP 1307396 A1 EP1307396 A1 EP 1307396A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- goods
- unit
- transport unit
- transport
- transported
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Definitions
- the invention relates to a method for the automatic loading and unloading of transport units, in particular units for transporting goods, preferably metal products in a wound sheet form, so-called coils or package goods, even on pallets.
- AGVs laser-based driverless transport systems
- This technology is used to automate internal product and material flows in defined sectors.
- the functional areas of high-bay warehouse / interim storage and shipping level can be linked with one another in such a way that the computer-assisted provision of transport goods on the
- a device for the lateral loading and unloading of vehicles consisting of a movable carriage with a load handling device and a fork-chain conveyor combination, the position of the automatic loading and unloading of the vehicle
- 35 vehicle and / or the loading unit is determined by means of a measuring device, the loading and unloading of the vehicle by means of a parallel to the vehicle on at least two rails on one side of the vehicle with movable transfer carriage with lifting table, the lifting table consists of a further linear guide system with a fork carriage with fork, which can be moved transversely to the longitudinal axis of the vehicle, and the carriage of the transfer carriage has counter-pressure rollers and side guide rollers on both rails and the fork drive and the chain conveyor drive are switched on simultaneously during loading and unloading and the load is transferred from the chain conveyor to the fork or the fork to the chain conveyor, the conveying level of the chain conveyor being higher than that of the fork (DE 195 03 198 Cl).
- a device for the lateral loading and unloading of vehicles preferably trucks
- the loading and unloading of the vehicle by means of a sliding carriage undercarriage that can be moved parallel to the vehicle on at least two rails, with a ball slewing ring, a linear guide system with slide and a lifting system with a fork, whereby the linear guide system with slide and lifting system with fork can be rotated around the ball slewing ring, the rails are only on one side of the vehicle and the carriage of the transfer carriage has counter rollers and side guide rollers on at least two rails (DE 195 03 199 Cl ).
- the invention is based on the object of developing a method for the automatic loading and unloading of transport units in which the disadvantages of the prior art are to be eliminated by claims 1-11, in particular the shipping level which was previously necessary and necessary in each case being eliminated should.
- the goods to be transported and the transport unit independently of their respective location by means of a known, movably arranged laser scanner, preferably from above, three-dimensionally cartographically records the position, dimensions and structure of the data obtained central control unit, where it is compared and compared with the specific data of the transport unit obtained via a transponder and a reading unit, and forwarded to a removal unit through which the goods are removed and transported directly to the transport unit without the need to switch on an additional shipping level, and there exactly be predetermined place, the unloading process being carried out in the same way at the destination.
- a rail-bound rail vehicle preferably a freight wagon or a road-bound vehicle, preferably a truck, can be used as the transport unit.
- metal products in wound sheet form preferably so-called coils for recording, loading and / or unloading and for transporting, come as goods.
- the goods can also be recorded, loaded and / or unloaded and transported in palletized or parcel-like form.
- the laser scanner used is preferably a non-contact laser with a high power level, which has a rotating head for the application described and which is preferably used in the area of the crane runway / bridge from above.
- the laser scanner sweeps an angle of 0-180 ° and is used one or more times over the goods to be transported and via the transport unit for precise three-dimensional detection of the position of the goods in the warehouse on the one hand and the free spaces on the transport unit on the other.
- the information obtained is processed as follows:
- the individual goods are stored in the warehouse or on the transport unit with their coordinates and spatial dimensions. In the case of coils, the center point is also added. This is important for the positioning of the crane tongs.
- This data is then compared and compared with the data of a transponder which is attached to the transport unit via a reader which is arranged in the track or road area in the central control unit in such a way that a list of those on the transport unit is now provided lying goods, with all relevant data such as dimensions and location as well as the unique identification number of the transport unit is generated.
- This information is the Warehouse management system made available and allow the corresponding driving orders for the crane to be generated fully automatically. A completely automatic sequence of loading and unloading processes is thus carried out, which does not require any intervention by personnel.
- the implementation of the invention depends largely on the technical reliability of the laser-based data processing systems and the logistical advantages, which are part of a holistically defined logistics chain as a business result for both the sender and the recipient.
- the advantages of the invention lie both in the physical area and in the area of information logistics, since the material and product flow is significantly simplified and expanded. This results in interesting rationalization potential, since in any case the interface shipping level is completely eliminated for the first time.
- the data flow of information logistics is considerably simplified with the invention.
- the direct inclusion of the transport unit in the data handling creates a continuous flow of data up to and including the transport container. This data can be passed on to the recipient in such a way that not only the individual goods to be transported in an order, but also the respective assignment to the transport unit is known. This enables unloading on the receiving side according to company-specific criteria, which creates the conditions for optimization there.
- FIG. 1 shows a section of a warehouse with a crane runway and laser scanner.
- the transport unit 1 with its special receptacles for the transport goods 2 is located in the storage area 3 in the catchment area of the laser scanner 6 attached to the cat 4 of the crane runway / bridge 5, which can likewise detect the transport goods 7 located in the hall 3 with its rays 8.
- the transponder 9, which communicates with the reading device 10 in the track bed, is fastened under the transport unit 1.
- a punctiform laser 11 for measuring the crane travel x-axis is fastened on the crane track / bridge 5. All data acquisition devices are connected to a control unit, not shown. The following coordination takes place:
- control unit In the control unit (PC), which is not shown, after the scanning process, all transport goods with dimensions and spatial position are stored. If a movement order is generated by the warehouse management system, the crane uses its laser distance meter to guide it to the coordinates stored in the control unit. If the goods are coils, the control unit knows the center point coordinate and the crane tongs are positioned accordingly. After picking up the cargo, the crane moves to the target coordinates and unloads the cargo. The motion task is completed and a corresponding message is sent to the warehouse management system.
- PC control unit
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control And Safety Of Cranes (AREA)
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10039629A DE10039629B4 (de) | 2000-08-09 | 2000-08-09 | Verfahren zur automatischen Be- und Entladung von Transporteinheiten, insbesondere von Einheiten zum Transportieren von Gütern |
DE10039629 | 2000-08-09 | ||
PCT/EP2001/009148 WO2002014203A1 (de) | 2000-08-09 | 2001-08-08 | Verfahren zur automatischen be- und entladung von transporteinheinten, insbesondere von einheiten zum transportieren von gütern |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1307396A1 true EP1307396A1 (de) | 2003-05-07 |
EP1307396B1 EP1307396B1 (de) | 2004-11-17 |
Family
ID=7652347
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP01974134A Expired - Lifetime EP1307396B1 (de) | 2000-08-09 | 2001-08-08 | Verfahren zur automatischen be- und entladung von transporteinheinten, insbesondere von einheiten zum transportieren von gütern |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP1307396B1 (de) |
AT (1) | ATE282578T1 (de) |
AU (1) | AU2001293738A1 (de) |
DE (2) | DE10039629B4 (de) |
WO (1) | WO2002014203A1 (de) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006054083A1 (de) * | 2006-11-16 | 2008-05-29 | Siemens Ag | Verfahren und Navigationssystem zum Navigieren eines Transportmittels für Waren, deren Anwendungen und Verwendungen sowie Computerprogramm und Datenspeichermedium |
DE202007016156U1 (de) | 2007-11-16 | 2008-03-20 | Noell Mobile Systems Gmbh | Portalhubstapler mit automatischer Lenkung |
DE102009037742A1 (de) | 2009-08-17 | 2011-02-24 | Harry Halfar | Verfahren und Vorrichtung bzw. Sensorik zur Gewinnung von spezifischen Objektinformationen |
US9522783B2 (en) | 2012-11-02 | 2016-12-20 | Carego Innovative Solutions, Inc. | Warehouse-related method and facility |
CA2795624A1 (en) | 2012-11-02 | 2014-05-02 | Martin Boni | Warehouse-related method |
WO2015172242A1 (en) | 2014-05-15 | 2015-11-19 | Carego Innovative Technologies Inc. | Method for stacking welded tube |
EP3020675A1 (de) * | 2014-11-14 | 2016-05-18 | Giovanni De Carli | System und verfahren zur handhabung von lasten in form von spulen oder rollen wie metallblechspulen |
CN106608550A (zh) * | 2016-05-05 | 2017-05-03 | 襄阳忠良工程机械有限责任公司 | 一种移动带式装卸机用滑移台车 |
JP6950127B2 (ja) * | 2017-09-14 | 2021-10-13 | 株式会社日立プラントメカニクス | コイル運搬用自動クレーンのコイル把持位置の位置決め方法 |
US11429916B2 (en) | 2018-02-27 | 2022-08-30 | Carego Tek Inc. | Facility for processing steel |
EP3699136A1 (de) | 2019-02-25 | 2020-08-26 | ABB Schweiz AG | Containerkran mit referenzmarker |
CN112390156A (zh) * | 2020-11-09 | 2021-02-23 | 中国建筑土木建设有限公司 | 一种用于无坡道地下室大型精密设备吊装装置 |
CN113636298B (zh) * | 2021-07-30 | 2022-09-23 | 杭州电子科技大学 | 一种袋装物料装车机的码包状态检测***及方法 |
CN113844813B (zh) * | 2021-09-30 | 2022-08-02 | 湖南天桥嘉成智能科技有限公司 | 一种基于机器视觉的板坯识别跟踪调度管理*** |
CN114180353B (zh) * | 2021-12-28 | 2022-08-30 | 湖南天桥嘉成智能科技有限公司 | 一种多类型物料备料无人天车智能控制***及方法 |
CN116198898B (zh) * | 2023-04-20 | 2023-07-25 | 巴斯夫一体化基地(广东)有限公司 | 用于存储货物的仓库 |
CN116878538B (zh) * | 2023-09-06 | 2023-11-21 | 南通明泰信息科技有限公司 | 一种用于wms的agv小车运行数据采集*** |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5211826B2 (de) * | 1972-10-18 | 1977-04-02 | ||
US4139107A (en) * | 1976-10-20 | 1979-02-13 | Hitachi, Ltd. | Spreader positioning apparatus for automatically grasping a handling article |
US4753357A (en) * | 1985-12-27 | 1988-06-28 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Container crane |
US4796209A (en) * | 1986-06-26 | 1989-01-03 | Allegheny Ludlum Corporation | Random inventory system |
DE3723794A1 (de) * | 1987-07-15 | 1989-01-26 | Ruediger Staege | Verladestation fuer automatische heckseitige be- und entladung von lastkraftwagen oder anhaengern und containern |
DE59305281D1 (de) * | 1992-08-28 | 1997-03-06 | Johann Hipp | Vorrichtung und verfahren zur steuerung eines containerkranes |
JP3271834B2 (ja) * | 1993-08-26 | 2002-04-08 | 日新製鋼株式会社 | 金属帯コイルの運搬装置 |
DE19503198C1 (de) * | 1995-02-02 | 1996-02-22 | Noell Gmbh | Vorrichtung für das seitliche Be- und Entladen von Fahrzeugen |
DE19519741A1 (de) * | 1995-06-02 | 1996-12-05 | Siemens Ag | Sensorik für einen Kran, insbesondere einen schienengebundenen Stapelkran oder Brückenkran |
JPH0912268A (ja) * | 1995-06-27 | 1997-01-14 | Hitachi Kiden Kogyo Ltd | 円柱状物体の位置検出方法 |
DE19630187C2 (de) * | 1996-07-26 | 2001-03-22 | Noell Stahl Und Maschb Gmbh | Einrichtung zum automatischen Positionieren eines von zwei gegeneinander beweglichen Objekten |
DE19635858A1 (de) * | 1996-09-04 | 1998-03-05 | Nhf Gmbh | Vorrichtung zum seitlichen Be- und Entladen von Fahrzeugen |
DE19841570C2 (de) * | 1998-09-11 | 2001-04-12 | Telerob Ges Fuer Fernhantierun | Kaikran zum Be- und Entladen von Containern |
-
2000
- 2000-08-09 DE DE10039629A patent/DE10039629B4/de not_active Expired - Lifetime
-
2001
- 2001-08-08 AU AU2001293738A patent/AU2001293738A1/en not_active Abandoned
- 2001-08-08 EP EP01974134A patent/EP1307396B1/de not_active Expired - Lifetime
- 2001-08-08 WO PCT/EP2001/009148 patent/WO2002014203A1/de active IP Right Grant
- 2001-08-08 DE DE50104556T patent/DE50104556D1/de not_active Expired - Lifetime
- 2001-08-08 AT AT01974134T patent/ATE282578T1/de not_active IP Right Cessation
Non-Patent Citations (1)
Title |
---|
See references of WO0214203A1 * |
Also Published As
Publication number | Publication date |
---|---|
ATE282578T1 (de) | 2004-12-15 |
AU2001293738A1 (en) | 2002-02-25 |
DE10039629A1 (de) | 2002-03-21 |
EP1307396B1 (de) | 2004-11-17 |
DE10039629B4 (de) | 2007-01-11 |
DE50104556D1 (de) | 2004-12-23 |
WO2002014203A1 (de) | 2002-02-21 |
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